#ifndef __ZGT_HAND_H__
#define __ZGT_HAND_H__

#include <ros/ros.h>

#include <stdio.h>
#include <fcntl.h>
#include <string.h>
#include <stdlib.h>
#include <sys/times.h>
#include <sys/types.h>
#include <termios.h>
#include <unistd.h>
#include <sys/ioctl.h>

#include <serial/serial.h> 
#include <sensor_msgs/JointState.h>

#include <std_msgs/UInt16.h>
#include <zgt_msgs/Fingers.h>

#define TXD_MAX         9
#define RXD_MAX         9

#define ERR_MAX         8

#define FIG_DOF         6

#define PTCL_ID         3
#define PTCL_DL         6
#define PTCL_DH         7
#define PTCL_CS         8     

#define MAX_AG          2000
#define MIN_AG          350


#endif //__ZGT_HAND_H__
